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In this paper, we describe the mechanical design, system overview,integration and control techniques associated with SKALA, a unique large-sizedrobot for carrying a person with physical disabilities, up and down staircases.As a regular wheelchair is unable to perform such a maneuver, the systemfunctions as a non-conventional wheelchair with several intelligent features.We describe the unique mechanical design and the design choices associated withit. We showcase the embedded control architecture that allows for severaldifferent modes of teleoperation, all of which have been described in detail.We further investigate the architecture associated with the autonomousoperation of the system.

Design, Analysis & Prototyping of a Semi-Automated Staircase-Climbing Rehabilitation Robot